ROS2-UXRCE Agent-Can't Subscribe to published topics

ROS / MAVROS / MicroDDS
1

Hi, I have been trying to connect my Cube Orange(uxrce_dds_client start -t serial -d /dev/ttyS2 -b 921600) with RPI running UBUNTU 22.04 (HUMBLE). I followed the following documentation -
https://docs.px4.io/main/en/companion_computer/pixhawk_rpi.html
Successfully created publisher and also i am able to list the ros topics-

/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/position_setpoint_triplet
/fmu/out/sensor_combined
/fmu/out/timesync_status
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
/parameter_events
/rosout

After which when I try to echo topics (ros2 topic echo /fmu/out/vehicle)
I get blank screen and after 2-3 times of trying following error pops up-

kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic echo /fmu/out/vehicle_status
2023-12-09 10:58:07.540 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7419: open_and_lock_file failed -> Function open_port_internal

On my mavlink console when the Agent start there is activity on the mavlink console.

i am also attaching the out for

ros2 doctor report

kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 doctor --report
2023-12-09 11:08:05.961 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7419: open_and_lock_file failed -> Function open_port_internal

   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : 73<RUNNING,LOOPBACK,UP>
mtu          : 65536
inet         : 192.168.1.9
inet4        : ['192.168.1.9']
ether        : d8:3a:dd:88:cb:9b
inet6        : ['fe80::4182:1f25:cc6e:19ef%wlan0']
netmask      : 255.255.255.0
device       : wlan0
flags        : 4163<BROADCAST,RUNNING,MULTICAST,UP>
mtu          : 1500
broadcast    : 192.168.1.255
ether        : d8:3a:dd:88:cb:9a
device       : eth0
flags        : 4099<BROADCAST,MULTICAST,UP>
mtu          : 1500

   PACKAGE VERSIONS
px4_ros_com                               : latest=, local=0.1.0
px4_msgs                                  : latest=, local=2.0.1
rosidl_runtime_c                          : latest=3.1.5, local=3.1.5
pendulum_msgs                             : latest=0.20.3, local=0.20.3
rosidl_typesupport_c                      : latest=2.0.1, local=2.0.1
composition_interfaces                    : latest=1.2.1, local=1.2.1
examples_rclpy_minimal_client             : latest=0.15.1, local=0.15.1
pendulum_control                          : latest=0.20.3, local=0.20.3
kdl_parser                                : latest=2.6.4, local=2.6.4
ament_lint                                : latest=0.12.9, local=0.12.9
unique_identifier_msgs                    : latest=2.2.1, local=2.2.1
rcl_interfaces                            : latest=1.2.1, local=1.2.1
geometry2                                 : latest=0.25.5, local=0.25.5
examples_rclcpp_minimal_action_client     : latest=0.15.1, local=0.15.1
ros2service                               : latest=0.18.7, local=0.18.7
shared_queues_vendor                      : latest=0.15.8, local=0.15.8
tf2_bullet                                : latest=0.25.5, local=0.25.5
tf2_msgs                                  : latest=0.25.5, local=0.25.5
ament_cmake_ros                           : latest=0.10.0, local=0.10.0
demo_nodes_cpp                            : latest=0.20.3, local=0.20.3
ros_base                                  : latest=0.10.0, local=0.10.0
rosbag2_cpp                               : latest=0.15.8, local=0.15.8
python_qt_binding                         : latest=1.1.2, local=1.1.2
ament_cmake_include_directories           : latest=1.3.6, local=1.3.6
rqt_shell                                 : latest=1.0.2, local=1.0.2
image_transport                           : latest=3.1.7, local=3.1.7
sensor_msgs_py                            : latest=4.2.3, local=4.2.3
std_srvs                                  : latest=4.2.3, local=4.2.3
rqt_gui                                   : latest=1.1.5, local=1.1.5
rqt_topic                                 : latest=1.5.0, local=1.5.0
ament_cmake_export_include_directories    : latest=1.3.6, local=1.3.6
rclpy                                     : latest=3.3.11, local=3.3.11
action_msgs                               : latest=1.2.1, local=1.2.1
rosbag2_transport                         : latest=0.15.8, local=0.15.8
ament_xmllint                             : latest=0.12.9, local=0.12.9
nav_msgs                                  : latest=4.2.3, local=4.2.3
rosbag2_py                                : latest=0.15.8, local=0.15.8
angles                                    : latest=1.15.0, local=1.15.0
ros2cli_common_extensions                 : latest=0.1.1, local=0.1.1
ament_cmake_uncrustify                    : latest=0.12.9, local=0.12.9
rmw_fastrtps_cpp                          : latest=6.2.5, local=6.2.5
rosidl_generator_cpp                      : latest=3.1.5, local=3.1.5
urdf                                      : latest=2.6.0, local=2.6.0
examples_rclcpp_minimal_publisher         : latest=0.15.1, local=0.15.1
visualization_msgs                        : latest=4.2.3, local=4.2.3
ament_cpplint                             : latest=0.12.9, local=0.12.9
std_msgs                                  : latest=4.2.3, local=4.2.3
ros2doctor                                : latest=0.18.7, local=0.18.7
turtlesim                                 : latest=1.4.2, local=1.4.2
rviz_assimp_vendor                        : latest=11.2.9, local=11.2.9
rqt_srv                                   : latest=1.0.3, local=1.0.3
rcutils                                   : latest=5.1.4, local=5.1.4
rcl_logging_spdlog                        : latest=2.3.1, local=2.3.1
ament_flake8                              : latest=0.12.9, local=0.12.9
ament_cmake_gtest                         : latest=1.3.6, local=1.3.6
tf2_eigen                                 : latest=0.25.5, local=0.25.5
rosidl_cli                                : latest=3.1.5, local=3.1.5
rcl_lifecycle                             : latest=5.3.6, local=5.3.6
examples_rclpy_minimal_action_client      : latest=0.15.1, local=0.15.1
geometry_msgs                             : latest=4.2.3, local=4.2.3
rqt_common_plugins                        : latest=1.2.0, local=1.2.0
ament_index_cpp                           : latest=1.4.0, local=1.4.0
fastrtps_cmake_module                     : latest=2.2.2, local=2.2.2
ros2action                                : latest=0.18.7, local=0.18.7
pluginlib                                 : latest=5.1.0, local=5.1.0
sros2                                     : latest=0.10.4, local=0.10.4
tf2_ros_py                                : latest=0.25.5, local=0.25.5
rosidl_runtime_py                         : latest=0.9.3, local=0.9.3
ros2lifecycle                             : latest=0.18.7, local=0.18.7
ament_cmake_export_libraries              : latest=1.3.6, local=1.3.6
rmw                                       : latest=6.1.1, local=6.1.1
laser_geometry                            : latest=2.4.0, local=2.4.0
ros2node                                  : latest=0.18.7, local=0.18.7
ament_cmake_pep257                        : latest=0.12.9, local=0.12.9
launch_testing_ament_cmake                : latest=1.0.4, local=1.0.4
ros_environment                           : latest=3.2.2, local=3.2.2
rcl_action                                : latest=5.3.6, local=5.3.6
ros2cli                                   : latest=0.18.7, local=0.18.7
pcl_msgs                                  : latest=1.0.0, local=1.0.0
tlsf                                      : latest=0.7.0, local=0.7.0
rclcpp_components                         : latest=16.0.7, local=16.0.7
qt_gui_cpp                                : latest=2.2.2, local=2.2.2
rclcpp_lifecycle                          : latest=16.0.7, local=16.0.7
osrf_pycommon                             : latest=2.0.2, local=2.0.2
ament_lint_auto                           : latest=0.12.9, local=0.12.9
rviz_default_plugins                      : latest=11.2.9, local=11.2.9
rviz_rendering                            : latest=11.2.9, local=11.2.9
interactive_markers                       : latest=2.3.2, local=2.3.2
joy                                       : latest=3.3.0, local=3.3.0
rqt_msg                                   : latest=1.2.0, local=1.2.0
rqt_service_caller                        : latest=1.0.5, local=1.0.5
tracetools                                : latest=4.1.1, local=4.1.1
ament_cmake_lint_cmake                    : latest=0.12.9, local=0.12.9
statistics_msgs                           : latest=1.2.1, local=1.2.1
tf2_ros                                   : latest=0.25.5, local=0.25.5
ros2bag                                   : latest=0.15.8, local=0.15.8
rcpputils                                 : latest=2.4.1, local=2.4.1
tf2_py                                    : latest=0.25.5, local=0.25.5
rviz_ogre_vendor                          : latest=11.2.9, local=11.2.9
ament_index_python                        : latest=1.4.0, local=1.4.0
rcl_yaml_param_parser                     : latest=5.3.6, local=5.3.6
teleop_twist_joy                          : latest=2.4.5, local=2.4.5
qt_dotgraph                               : latest=2.2.2, local=2.2.2
ros2param                                 : latest=0.18.7, local=0.18.7
stereo_msgs                               : latest=4.2.3, local=4.2.3
diagnostic_msgs                           : latest=4.2.3, local=4.2.3
tango_icons_vendor                        : latest=0.1.1, local=0.1.1
ament_cmake_pytest                        : latest=1.3.6, local=1.3.6
tf2_kdl                                   : latest=0.25.5, local=0.25.5
tlsf_cpp                                  : latest=0.13.0, local=0.13.0
rosbag2_interfaces                        : latest=0.15.8, local=0.15.8
rosidl_runtime_cpp                        : latest=3.1.5, local=3.1.5
examples_rclcpp_minimal_service           : latest=0.15.1, local=0.15.1
tinyxml2_vendor                           : latest=0.7.6, local=0.7.6
launch_xml                                : latest=1.0.4, local=1.0.4
zstd_vendor                               : latest=0.15.8, local=0.15.8
logging_demo                              : latest=0.20.3, local=0.20.3
rosbag2_compression                       : latest=0.15.8, local=0.15.8
ament_cmake_auto                          : latest=1.3.6, local=1.3.6
rosbag2_compression_zstd                  : latest=0.15.8, local=0.15.8
rqt_action                                : latest=2.0.1, local=2.0.1
rpyutils                                  : latest=0.2.1, local=0.2.1
launch_testing                            : latest=1.0.4, local=1.0.4
rosidl_cmake                              : latest=3.1.5, local=3.1.5
rqt_py_common                             : latest=1.1.5, local=1.1.5
dummy_sensors                             : latest=0.20.3, local=0.20.3
libcurl_vendor                            : latest=3.1.1, local=3.1.1
ament_uncrustify                          : latest=0.12.9, local=0.12.9
examples_rclpy_minimal_service            : latest=0.15.1, local=0.15.1
trajectory_msgs                           : latest=4.2.3, local=4.2.3
image_geometry                            : latest=3.2.1, local=3.2.1
examples_rclcpp_multithreaded_executor    : latest=0.15.1, local=0.15.1
sros2_cmake                               : latest=0.10.4, local=0.10.4
ros2pkg                                   : latest=0.18.7, local=0.18.7
pcl_conversions                           : latest=2.4.0, local=2.4.0
cv_bridge                                 : latest=3.2.1, local=3.2.1
ament_cmake_export_interfaces             : latest=1.3.6, local=1.3.6
rosidl_generator_py                       : latest=0.14.4, local=0.14.4
ament_cmake_export_dependencies           : latest=1.3.6, local=1.3.6
rclcpp_action                             : latest=16.0.7, local=16.0.7
libyaml_vendor                            : latest=1.2.2, local=1.2.2
ament_lint_common                         : latest=0.12.9, local=0.12.9
launch_ros                                : latest=0.19.6, local=0.19.6
domain_coordinator                        : latest=0.10.0, local=0.10.0
keyboard_handler                          : latest=0.0.5, local=0.0.5
rqt_console                               : latest=2.0.2, local=2.0.2
ament_cmake_export_link_flags             : latest=1.3.6, local=1.3.6
rosidl_typesupport_cpp                    : latest=2.0.1, local=2.0.1
ament_cmake_gmock                         : latest=1.3.6, local=1.3.6
message_filters                           : latest=4.3.3, local=4.3.3
intra_process_demo                        : latest=0.20.3, local=0.20.3
topic_monitor                             : latest=0.20.3, local=0.20.3
yaml_cpp_vendor                           : latest=8.0.2, local=8.0.2
spdlog_vendor                             : latest=1.3.1, local=1.3.1
pybind11_vendor                           : latest=2.4.2, local=2.4.2
rcl                                       : latest=5.3.6, local=5.3.6
ament_cmake_version                       : latest=1.3.6, local=1.3.6
demo_nodes_py                             : latest=0.20.3, local=0.20.3
image_tools                               : latest=0.20.3, local=0.20.3
composition                               : latest=0.20.3, local=0.20.3
ament_cmake_copyright                     : latest=0.12.9, local=0.12.9
depthimage_to_laserscan                   : latest=2.5.1, local=2.5.1
launch                                    : latest=1.0.4, local=1.0.4
action_tutorials_interfaces               : latest=0.20.3, local=0.20.3
sensor_msgs                               : latest=4.2.3, local=4.2.3
rqt_image_view                            : latest=1.2.0, local=1.2.0
ament_cmake_gen_version_h                 : latest=1.3.6, local=1.3.6
tf2_eigen_kdl                             : latest=0.25.5, local=0.25.5
ament_copyright                           : latest=0.12.9, local=0.12.9
sqlite3_vendor                            : latest=0.15.8, local=0.15.8
rclcpp                                    : latest=16.0.7, local=16.0.7
rosidl_typesupport_introspection_cpp      : latest=3.1.5, local=3.1.5
ament_cmake_core                          : latest=1.3.6, local=1.3.6
tf2_sensor_msgs                           : latest=0.25.5, local=0.25.5
ament_cmake_libraries                     : latest=1.3.6, local=1.3.6
rmw_implementation                        : latest=2.8.2, local=2.8.2
rqt_reconfigure                           : latest=1.1.2, local=1.1.2
ros2launch                                : latest=0.19.6, local=0.19.6
ament_cppcheck                            : latest=0.12.9, local=0.12.9
ros2component                             : latest=0.18.7, local=0.18.7
ament_cmake_cppcheck                      : latest=0.12.9, local=0.12.9
rosidl_typesupport_interface              : latest=3.1.5, local=3.1.5
action_tutorials_py                       : latest=0.20.3, local=0.20.3
tinyxml_vendor                            : latest=0.8.3, local=0.8.3
uncrustify_vendor                         : latest=2.0.2, local=2.0.2
eigen3_cmake_module                       : latest=0.1.1, local=0.1.1
rosbag2_storage_default_plugins           : latest=0.15.8, local=0.15.8
class_loader                              : latest=2.2.0, local=2.2.0
actionlib_msgs                            : latest=4.2.3, local=4.2.3
rviz2                                     : latest=11.2.9, local=11.2.9
urdf_parser_plugin                        : latest=2.6.0, local=2.6.0
ros2interface                             : latest=0.18.7, local=0.18.7
ament_package                             : latest=0.14.0, local=0.14.0
launch_testing_ros                        : latest=0.19.6, local=0.19.6
ament_cmake_test                          : latest=1.3.6, local=1.3.6
examples_rclpy_minimal_action_server      : latest=0.15.1, local=0.15.1
examples_rclcpp_minimal_composition       : latest=0.15.1, local=0.15.1
tf2_geometry_msgs                         : latest=0.25.5, local=0.25.5
ros_core                                  : latest=0.10.0, local=0.10.0
ros2run                                   : latest=0.18.7, local=0.18.7
ament_pep257                              : latest=0.12.9, local=0.12.9
ament_cmake_target_dependencies           : latest=1.3.6, local=1.3.6
quality_of_service_demo_py                : latest=0.20.3, local=0.20.3
quality_of_service_demo_cpp               : latest=0.20.3, local=0.20.3
examples_rclpy_minimal_subscriber         : latest=0.15.1, local=0.15.1
shape_msgs                                : latest=4.2.3, local=4.2.3
python_cmake_module                       : latest=0.10.0, local=0.10.0
demo_nodes_cpp_native                     : latest=0.20.3, local=0.20.3
ament_cmake                               : latest=1.3.6, local=1.3.6
qt_gui                                    : latest=2.2.2, local=2.2.2
rqt_publisher                             : latest=1.5.0, local=1.5.0
console_bridge_vendor                     : latest=1.4.1, local=1.4.1
examples_rclcpp_minimal_subscriber        : latest=0.15.1, local=0.15.1
examples_rclcpp_minimal_timer             : latest=0.15.1, local=0.15.1
ament_cmake_flake8                        : latest=0.12.9, local=0.12.9
rcl_logging_interface                     : latest=2.3.1, local=2.3.1
orocos_kdl_vendor                         : latest=0.2.5, local=0.2.5
rttest                                    : latest=0.13.0, local=0.13.0
rosidl_generator_c                        : latest=3.1.5, local=3.1.5
examples_rclpy_executors                  : latest=0.15.1, local=0.15.1
rosidl_parser                             : latest=3.1.5, local=3.1.5
rqt_graph                                 : latest=1.3.0, local=1.3.0
libstatistics_collector                   : latest=1.3.1, local=1.3.1
launch_yaml                               : latest=1.0.4, local=1.0.4
rmw_dds_common                            : latest=1.6.0, local=1.6.0
rmw_fastrtps_shared_cpp                   : latest=6.2.5, local=6.2.5
rqt_plot                                  : latest=1.1.2, local=1.1.2
ament_cmake_python                        : latest=1.3.6, local=1.3.6
rqt_bag_plugins                           : latest=1.1.4, local=1.1.4
lifecycle_msgs                            : latest=1.2.1, local=1.2.1
rosidl_adapter                            : latest=3.1.5, local=3.1.5
rqt_gui_cpp                               : latest=1.1.5, local=1.1.5
ament_cmake_export_targets                : latest=1.3.6, local=1.3.6
dummy_robot_bringup                       : latest=0.20.3, local=0.20.3
sdl2_vendor                               : latest=3.3.0, local=3.3.0
rosbag2                                   : latest=0.15.8, local=0.15.8
action_tutorials_cpp                      : latest=0.20.3, local=0.20.3
resource_retriever                        : latest=3.1.1, local=3.1.1
rosidl_default_runtime                    : latest=1.2.0, local=1.2.0
ros2multicast                             : latest=0.18.7, local=0.18.7
rqt_bag                                   : latest=1.1.4, local=1.1.4
ament_cmake_cpplint                       : latest=0.12.9, local=0.12.9
robot_state_publisher                     : latest=3.0.2, local=3.0.2
examples_rclcpp_minimal_action_server     : latest=0.15.1, local=0.15.1
rosbag2_storage                           : latest=0.15.8, local=0.15.8
ros2topic                                 : latest=0.18.7, local=0.18.7
map_msgs                                  : latest=2.1.0, local=2.1.0
rosidl_default_generators                 : latest=1.2.0, local=1.2.0
ament_cmake_xmllint                       : latest=0.12.9, local=0.12.9
rqt_gui_py                                : latest=1.1.5, local=1.1.5
ament_cmake_export_definitions            : latest=1.3.6, local=1.3.6
rosidl_typesupport_fastrtps_cpp           : latest=2.2.2, local=2.2.2
dummy_map_server                          : latest=0.20.3, local=0.20.3
rviz_common                               : latest=11.2.9, local=11.2.9
rosidl_typesupport_fastrtps_c             : latest=2.2.2, local=2.2.2
desktop                                   : latest=0.10.0, local=0.10.0
rmw_implementation_cmake                  : latest=6.1.1, local=6.1.1
ament_lint_cmake                          : latest=0.12.9, local=0.12.9
rqt_py_console                            : latest=1.0.2, local=1.0.2
examples_rclcpp_minimal_client            : latest=0.15.1, local=0.15.1
tf2_tools                                 : latest=0.25.5, local=0.25.5
example_interfaces                        : latest=0.9.3, local=0.9.3
qt_gui_py_common                          : latest=2.2.2, local=2.2.2
ros_workspace                             : latest=1.0.2, local=1.0.2
rosidl_typesupport_introspection_c        : latest=3.1.5, local=3.1.5
builtin_interfaces                        : latest=1.2.1, local=1.2.1
tf2                                       : latest=0.25.5, local=0.25.5
lifecycle                                 : latest=0.20.3, local=0.20.3
rosgraph_msgs                             : latest=1.2.1, local=1.2.1
teleop_twist_keyboard                     : latest=2.3.2, local=2.3.2
common_interfaces                         : latest=4.2.3, local=4.2.3
examples_rclpy_minimal_publisher          : latest=0.15.1, local=0.15.1

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.15.0-1043-raspi-aarch64-with-glibc2.35
release          : 5.15.0-1043-raspi
processor        : aarch64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : humble
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bullseye'], 'rhel': ['8'], 'ubuntu': ['jammy']}

   TOPIC LIST
topic               : /fmu/in/obstacle_distance
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/offboard_control_mode
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/onboard_computer_status
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/sensor_optical_flow
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/telemetry_status
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/trajectory_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_attitude_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_command
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_mocap_odometry
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_rates_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_trajectory_bezier
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_trajectory_waypoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_visual_odometry
publisher count     : 0
subscriber count    : 1
topic               : /fmu/out/failsafe_flags
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/position_setpoint_triplet
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/sensor_combined
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/timesync_status
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_attitude
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_control_mode
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_local_position
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_odometry
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_status
publisher count     : 1
subscriber count    : 0

Any help would be really Appreciated !
Thank you

2

Do you have the same error message if you don’t start the agent?

3

Hi Benja, Without starting the Agent when I run -

ros2 topic list

OUTPUT

/parameter_events
/rosout

ros2 topic echo /fmu/out/vehicle_status

OUTPUT

WARNING: topic [/fmu/out/vehicle_status] does not appear to be published yet
Could not determine the type for the passed topic

NOTE: I have RPI 4B 8gb (Original)

NO Errors as such in terms of output from what I understand!

4

After the agent runs
ROS is not able to get data from the agent.
ROS_DOMAIN_ID=0 same as uxrce_dds_dom_id

kds-ros@kdsros-desktop:~/ws_sensor_combined$ source /opt/ros/humble/setup.bash
kds-ros@kdsros-desktop:~/ws_sensor_combined$ source install/local_setup.bash
kds-ros@kdsros-desktop:~/ws_sensor_combined$ . /install/local_setup.bash
bash: /install/local_setup.bash: No such file or directory
kds-ros@kdsros-desktop:~/ws_sensor_combined$ . install/local_setup.bash
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic list
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/position_setpoint_triplet
/fmu/out/timesync_status
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_status
/parameter_events
/rosout
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic echo /fmu/out/vehicle_status


^Z
[1]+  Stopped                 ros2 topic echo /fmu/out/vehicle_status
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic echo /fmu/out/vehicle_status
 
^Z
[2]+  Stopped                 ros2 topic echo /fmu/out/vehicle_status
kds-ros@kdsros-desktop:~/ws_sensor_combined$ 
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic echo /fmu/out/vehicle_status
2023-12-09 15:35:43.099 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal
^Z
[3]+  Stopped                 ros2 topic echo /fmu/out/vehicle_status
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 launch px4_ros_com sensor_combined_listener.launch.py 
[INFO] [launch]: All log files can be found below /home/kds-ros/.ros/log/2023-12-09-15-36-02-564547-kdsros-desktop-15718
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sensor_combined_listener-1]: process started with pid [15719]
[sensor_combined_listener-1] Starting sensor_combined listener node...
[sensor_combined_listener-1] 2023-12-09 15:36:03.047 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal
[sensor_combined_listener-1] 2023-12-09 15:36:03.048 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7415: open_and_lock_file failed -> Function open_port_internal
^Z
[4]+  Stopped                 ros2 launch px4_ros_com sensor_combined_listener.launch.py
kds-ros@kdsros-desktop:~/ws_sensor_combined$ 


   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.15.0-1043-raspi-aarch64-with-glibc2.35
release          : 5.15.0-1043-raspi
processor        : aarch64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : humble
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bullseye'], 'rhel': ['8'], 'ubuntu': ['jammy']}

   TOPIC LIST
topic               : /fmu/in/obstacle_distance
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/offboard_control_mode
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/onboard_computer_status
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/sensor_optical_flow
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/telemetry_status
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/trajectory_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_attitude_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_command
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_mocap_odometry
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_rates_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_trajectory_bezier
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_trajectory_waypoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_visual_odometry
publisher count     : 0
subscriber count    : 1
topic               : /fmu/out/failsafe_flags
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/position_setpoint_triplet
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/timesync_status
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_control_mode
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_status
publisher count     : 1
subscriber count    : 0
kds-ros@kdsros-desktop:~/ws_sensor_combined$

After the agent runs
ROS is not able to get data from the agent.
ROS_DOMAIN_ID=0 same as uxrce_dds_dom_id

kds-ros@kdsros-desktop:~/ws_sensor_combined$ source /opt/ros/humble/setup.bash
kds-ros@kdsros-desktop:~/ws_sensor_combined$ source install/local_setup.bash
kds-ros@kdsros-desktop:~/ws_sensor_combined$ . /install/local_setup.bash
bash: /install/local_setup.bash: No such file or directory
kds-ros@kdsros-desktop:~/ws_sensor_combined$ . install/local_setup.bash
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic list
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/position_setpoint_triplet
/fmu/out/timesync_status
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_status
/parameter_events
/rosout
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic echo /fmu/out/vehicle_status


^Z
[1]+  Stopped                 ros2 topic echo /fmu/out/vehicle_status
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic echo /fmu/out/vehicle_status
 
^Z
[2]+  Stopped                 ros2 topic echo /fmu/out/vehicle_status
kds-ros@kdsros-desktop:~/ws_sensor_combined$ 
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 topic echo /fmu/out/vehicle_status
2023-12-09 15:35:43.099 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal
^Z
[3]+  Stopped                 ros2 topic echo /fmu/out/vehicle_status
kds-ros@kdsros-desktop:~/ws_sensor_combined$ ros2 launch px4_ros_com sensor_combined_listener.launch.py 
[INFO] [launch]: All log files can be found below /home/kds-ros/.ros/log/2023-12-09-15-36-02-564547-kdsros-desktop-15718
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sensor_combined_listener-1]: process started with pid [15719]
[sensor_combined_listener-1] Starting sensor_combined listener node...
[sensor_combined_listener-1] 2023-12-09 15:36:03.047 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7413: open_and_lock_file failed -> Function open_port_internal
[sensor_combined_listener-1] 2023-12-09 15:36:03.048 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7415: open_and_lock_file failed -> Function open_port_internal
^Z
[4]+  Stopped                 ros2 launch px4_ros_com sensor_combined_listener.launch.py
kds-ros@kdsros-desktop:~/ws_sensor_combined$ 


   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.15.0-1043-raspi-aarch64-with-glibc2.35
release          : 5.15.0-1043-raspi
processor        : aarch64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : humble
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bullseye'], 'rhel': ['8'], 'ubuntu': ['jammy']}

   TOPIC LIST
topic               : /fmu/in/obstacle_distance
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/offboard_control_mode
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/onboard_computer_status
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/sensor_optical_flow
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/telemetry_status
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/trajectory_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_attitude_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_command
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_mocap_odometry
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_rates_setpoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_trajectory_bezier
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_trajectory_waypoint
publisher count     : 0
subscriber count    : 1
topic               : /fmu/in/vehicle_visual_odometry
publisher count     : 0
subscriber count    : 1
topic               : /fmu/out/failsafe_flags
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/position_setpoint_triplet
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/timesync_status
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_control_mode
publisher count     : 1
subscriber count    : 0
topic               : /fmu/out/vehicle_status
publisher count     : 1
subscriber count    : 0
kds-ros@kdsros-desktop:~/ws_sensor_combined$
5

Hi @Benja, I was trying to connect using PX4 HITL on Cube and I think that is why the ros2_ws was not able to subscribe to the topics. When I updated it to regular FW, I am able to subscribe to topics.
Though still not able to echo topic, gives an output -
The message type 'px4_msgs/msg/VehicleStatus is invalid.

Just a suggestion - If UXRCE_DDS doesn’t work with HITL(if its correct), updating it on documentation would help others too.

6

I have a similar problem with a fresh install…

I can’t echo some topics, and i can echo some also ?!!

with another computer it’s working…

7

Do you have a companion computer with the pixhawk ?

8

yes a raspbery pi 4 with ubuntu 22.04 server…
It was working with my old installation of ubuntu 22.04 desktop on another raspbery

9

Hey Oliver, You can try this if you are not able to echo (worked for me).
In your ROS workspace

source /opt/ros/humble/setup.bash
source install/local_setup.bash
export ROS_DOMAIN_ID=0
export PYTHONOPTIMIZE=1
ros2 topic list
ros2 topic echo /fmu/out/vehicle_status

This should start to give you output.

10

all is sourced ans i have the correct ros domain , i can list the topics and echo some, but i don’t know why some topics don’t want to be open , i can echo odometry for exmple and i can’t echo vehicle local position ?!!!

11

I had similar problems and I am pretty sure this comes from incompatibility between the px4 firmware and px4_msgs.

I posted this to the discord, I’ll share it again here :

Hi there, can someone please confirm that PX4 Autopilot 1.14 with MicroXRCE-DDS Bridge should work with px4_msgs 1.14 ?

I have a strange behavior where I cannot echo some topics, but other topics work (for instance, vehicle_odometry works, but vehicle_status doesn’t).

I just tested with a fresh main build and all the messages go through. So this is my conclusion :

  • PX4 release/1.14 (634ad3893e) with px4_msgs release/1.14 (33dc666) doesn’t work
  • PX4 main (1c25d65a1e) with px4_msgs release/1.14 (33dc666) works

So I made it work with a rollback to an older version of px4_msgs, but I didn’t manage to find what broke the compatibility…

12

px4_msgs release/1.14 has no 33dc666 commit

if you check GitHub - PX4/px4_msgs at release/1.14 and GitHub - PX4/PX4-Autopilot at release/1.14 you will see that the messages definition are perfectly in sync

13

Me too, lot off problems depending off the version off px4 and px4_msgs,

Also offboard don’t work for me now, it was working perfgecly before, i put px4 in offboard and i publish on /fmu/in/vehicle_torque_setpoint… Now is broken and don’t work ?
Also topic names have changed , before i subcribe to /fmu/out/sensor_gps ,now it’s /fmu/out/vehicle_gps_position , and the names off messages changed also !! it was lat, lon, alt, and now it’s latitude_deg longitude_deg and altitude_msl_m

14

You are comparing the stable version of PX4 (and px4_msgs) with the main branch, where all the development happens, you have to expect the message definition of the main branch to change

15

Sorry about that, my mistake.

I also think I have messed up with the git commands when I did this test some time ago… So please ignore my previous message, the issue probably originate from a version mismatch between px4 and px4_msgs.

However, I am surprised that ROS2 didn’t come up with error messages when the message definitions are off. The subscriber seems to work, but never receives messages.

16

Good to hear that!

The PX4 ROS2 interface library library provides a way to check if the messages are synchronized at runtime